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feat(visualization): replace cv2 GUI with Rerun (and solves ffmpeg versioning issues) (#903)

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This commit is contained in:
Steven Palma
2025-04-09 17:33:01 +02:00
committed by GitHub
parent 2c86fea78a
commit 4041f57943
15 changed files with 175 additions and 65 deletions
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22
examples/11_use_lekiwi.md
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@@ -67,9 +67,15 @@ conda activate lerobot
git clone https://github.com/huggingface/lerobot.git ~/lerobot
```
#### 5. Install LeRobot with dependencies for the feetech motors:
#### 5. Install ffmpeg in your environment:
When using `miniconda`, install `ffmpeg` in your environment:
```bash
cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
conda install ffmpeg -c conda-forge
```
#### 6. Install LeRobot with dependencies for the feetech motors:
```bash
cd ~/lerobot && pip install -e ".[feetech]"
```
## C. Install LeRobot on laptop
@@ -108,9 +114,15 @@ conda activate lerobot
git clone https://github.com/huggingface/lerobot.git ~/lerobot
```
#### 5. Install LeRobot with dependencies for the feetech motors:
#### 5. Install ffmpeg in your environment:
When using `miniconda`, install `ffmpeg` in your environment:
```bash
cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
conda install ffmpeg -c conda-forge
```
#### 6. Install LeRobot with dependencies for the feetech motors:
```bash
cd ~/lerobot && pip install -e ".[feetech]"
```
Great :hugs:! You are now done installing LeRobot and we can begin assembling the SO100 arms and Mobile base :robot:.
@@ -412,6 +424,8 @@ python lerobot/scripts/control_robot.py \
--control.fps=30
```
> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`. For the `--control.type=remote_robot` you will also need to set `--control.viewer_ip` and `--control.viewer_port`
You should see on your laptop something like this: ```[INFO] Connected to remote robot at tcp://172.17.133.91:5555 and video stream at tcp://172.17.133.91:5556.``` Now you can move the leader arm and use the keyboard (w,a,s,d) to drive forward, left, backwards, right. And use (z,x) to turn left or turn right. You can use (r,f) to increase and decrease the speed of the mobile robot. There are three speed modes, see the table below:
| Speed Mode | Linear Speed (m/s) | Rotation Speed (deg/s) |
| ---------- | ------------------ | ---------------------- |